Traveling control device, traveling control method, and storage medium
A traveling control device that controls traveling of a vehicle along a target trajectory, includes: a cant acquisition unit configured to acquire a cant angle indicating a degree of inclination in a lateral direction of a road surface on which the vehicle travels; a deviation calculation unit configured to calculate a lateral deviation between a position of the target trajectory and a position of the vehicle in the lateral direction; and a control unit configured to calculate a target steering angle of the vehicle based on the cant angle and the lateral deviation and control steering of the vehicle to follow the target steering angle. A feedback term of the target steering angle calculated based on the cant angle and the lateral deviation is provided with a limit variably set according to the cant angle.
1 . A traveling control device that controls traveling of a vehicle along a target trajectory, comprising:
a cant acquisition unit configured to acquire a cant angle indicating a degree of inclination in a lateral direction of a road surface on which the vehicle travels;
a deviation calculation unit configured to calculate a lateral deviation between a position of the target trajectory and a position of the vehicle in the lateral direction; and
a control unit configured to calculate a target steering angle of the vehicle based on the cant angle and the lateral deviation and control steering of the vehicle to follow the target steering angle, wherein
a feedback term of the target steering angle calculated based on the cant angle and the lateral deviation is provided with a limit variably set according to the cant angle,
the target steering angle is set within the limit, and
the cant acquisition unit, the deviation calculation unit, and the control unit are each implemented via at least one processor.
2 . The traveling control device according to claim 1 , wherein
the limit is set based on
a yaw rate upper limit value variably set according to the cant angle and calculated based on predetermined information related to the vehicle, and
a condition that a direction of a yaw rate of the vehicle does not match a downward inclination direction of the road surface.
3 . The traveling control device according to claim 2 , wherein
the yaw rate upper limit value is calculated based on a speed of the vehicle.
4 . The traveling control device according to claim 2 , wherein
the yaw rate upper limit value is calculated based on information on specifications of the vehicle.
5 . The traveling control device according to claim 1 , wherein
the control unit sets the limit when movement of the vehicle in the lateral direction caused by a cant of the road surface is detected.
6 . The traveling control device according to claim 1 , wherein
the cant acquisition unit acquires the cant angle based on at least one of a detection result of a sensor that detects a lateral acceleration of the vehicle, a detection result of a sensor that detects an inclination of the road surface, and map information.
7 . The traveling control device according to claim 1 , wherein
the control unit calculates the target steering angle by adding a feedback term, which is calculated based on the cant angle and the lateral deviation and is provided with the limit, to a feedforward term calculated based on the cant angle.
8 . A traveling control method for controlling traveling of a vehicle along a target trajectory, comprising:
a cant acquisition step of acquiring a cant angle indicating a degree of inclination in a lateral direction of a road surface on which the vehicle travels;
a deviation calculation step of calculating a lateral deviation between a position of the target trajectory and a position of the vehicle in the lateral direction; and
a steering control step of calculating a target steering angle of the vehicle based on the cant angle and the lateral deviation and controlling steering of the vehicle to follow the target steering angle, wherein
a feedback term of the target steering angle calculated based on the cant angle and the lateral deviation is provided with a limit variably set according to the cant angle, and
the target steering angle is set within the limit.
9 . A non-transitory computer-readable storage medium storing a program for controlling traveling of a vehicle along a target trajectory, the program causing a computer to perform:
a cant acquisition step of acquiring a cant angle indicating a degree of inclination in a lateral direction of a road surface on which the vehicle travels;
a deviation calculation step of calculating a lateral deviation between a position of the target trajectory and a position of the vehicle in the lateral direction; and
a steering control step of calculating a target steering angle of the vehicle based on the cant angle and the lateral deviation and controlling steering of the vehicle to follow the target steering angle, wherein
a feedback term of the target steering angle calculated based on the cant angle and the lateral deviation is provided with a limit variably set according to the cant angle, and
the target steering angle is set within the limit.